JP7407213B2 - Direction identification device and direction identification method - Google Patents

Description

The present invention relates to a direction identification device and a direction identification method.

A mobile object that is equipped with a GPS receiver that receives positioning signals transmitted by GPS (Global Positioning System) satellites, detects its current position based on the positioning signal, and uses the current position detection result to automatically move autonomously. (For example, see Patent Document 1).

JP 2019-144668 Publication

However, when a mobile object moves in an environment where it is difficult to receive positioning signals, the accuracy of positioning decreases, and the accuracy of identifying the direction in which the mobile object is moving decreases, leading to a decrease in the accuracy of identifying the direction in which the mobile object is moving. There is a problem with doing this. As a countermeasure to this problem, it may be possible to improve the GPS receiver to increase the reception sensitivity of the positioning signal, but a new problem arises in that the cost of the GPS receiver increases.

An object of the present invention is to provide a direction identification device and a direction identification method that can identify a direction without using positioning.

One aspect of the present invention includes a photographed image acquisition unit that acquires an image photographed by a camera provided on a moving object, and a predetermined target that indicates a direction when the predetermined target that indicates a direction is shown in the photographed image. a direction information acquisition unit that acquires direction information indicating a direction to be directed, and a direction information acquisition unit that obtains direction information indicating a direction in which the viewpoint axis is directed based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera; and a predetermined object that detects the predetermined target from the photographed image based on whether or not an identification mark indicating that the target is a target indicating a direction is attached. and a target recognition unit, and the viewpoint axis direction specifying unit is configured to: A direction suggested by the arrangement direction of the pole group is specified based on the direction information, and the viewpoint axis is oriented based on the positional relationship between the arrangement direction of the pole group in the photographed image and the viewpoint axis of the camera. This is a direction specifying device characterized by specifying the direction in which the vehicle is located .

One aspect of the present invention includes a photographed image acquisition unit that acquires an image photographed by a camera provided on a moving object, and a predetermined target that indicates a direction when the predetermined target that indicates a direction is shown in the photographed image. a direction information acquisition unit that acquires direction information indicating a direction to be directed, and a direction information acquisition unit that obtains direction information indicating a direction in which the viewpoint axis is directed based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera; and a predetermined object that detects the predetermined target from the photographed image based on whether or not an identification mark indicating that the target is a target indicating a direction is attached. a target recognition unit, and the viewpoint axis direction specifying unit detects the predetermined target, which is a guardrail with the identification mark attached thereto and indicating a direction, when the predetermined target recognition unit detects the A direction suggested by the extending direction of the guardrail is specified based on the direction information, and the viewpoint axis is oriented based on the positional relationship between the extending direction of the guardrail and the viewpoint axis of the camera in the photographed image. This is a direction identification device characterized by identifying the direction in which the vehicle is located.

One aspect of the present invention is characterized in that the direction identification device includes a front direction identification unit that identifies the direction in which the front of the moving body is oriented based on the direction in which the viewpoint axis is oriented. shall be.

One aspect of the present invention is that in the direction specifying device, the viewpoint axis is oriented in at least one of the following cases: when the moving object is in a predetermined area and when the moving object is moving. It is characterized in that the direction in which the camera is located is specified by the viewpoint axis direction specifying section.

One aspect of the present invention is a direction specifying method using a direction specifying device that specifies a direction, in which the direction specifying device acquires an image taken by a camera provided on a moving object, and a predetermined target that indicates a direction. is shown in the photographed image, obtaining direction information indicating the direction suggested by the predetermined target; and a step of comparing the direction information with the predetermined target in the photographed image and the viewpoint axis of the camera. a viewpoint axis direction identification step of identifying the direction in which the viewpoint axis is oriented based on the positional relationship; , a predetermined target recognition step of detecting the predetermined target from the photographed image, and the viewpoint axis direction specifying step includes a pole with the identification mark attached thereto indicating the direction. When the predetermined target object that is a group is detected, the direction suggested by the arrangement direction of the pole group is specified based on the direction information, and the direction suggested by the arrangement direction of the pole group in the photographed image and the viewpoint axis of the camera are determined. The feature is that the direction in which the viewpoint axis is oriented is specified based on the positional relationship with the viewpoint axis .
One aspect of the present invention is a direction specifying method using a direction specifying device that specifies a direction, in which the direction specifying device acquires an image taken by a camera provided on a moving object, and a predetermined target that indicates a direction. is shown in the photographed image, a viewpoint axis direction specifying step of acquiring direction information indicating the direction suggested by the predetermined target; a step of identifying the direction in which the viewpoint axis is oriented based on the positional relationship with the viewpoint axis; and a step of identifying the direction in which the viewpoint axis is oriented based on the positional relationship with the viewpoint axis; , a predetermined target recognition step of detecting the predetermined target from the photographed image, and the viewpoint axis direction specifying step includes a guardrail with the identification mark attached to it indicating the direction. When the predetermined target is detected, the direction suggested by the extending direction of the guardrail is specified based on the direction information, and the extending direction of the guardrail and the viewpoint axis of the camera in the photographed image are determined. The method is characterized in that the direction in which the viewpoint axis is oriented is specified based on the positional relationship of the viewpoint axis.

According to one aspect of the present invention, a direction can be specified without using positioning.

1 is a diagram schematically showing the configuration of a vehicle according to an embodiment of the present invention. It is a figure showing the functional composition of a direction identification device. 3 is a flowchart showing the operation of the direction identification system. FIG. 2 is a schematic diagram showing an example of a photographed image and a direction in which a viewpoint axis is oriented. FIG. 2 is a schematic diagram showing an example of a photographed image and a direction in which a viewpoint axis is oriented.

Embodiments of the present invention will be described below with reference to the drawings.
In the following description, the directions indicated by the terms "front" and "rear" correspond to the "forward direction" and "reverse direction" of the vehicle 1, respectively, and are denoted by symbols D1 and D2, respectively.

FIG. 1 is a diagram schematically showing the configuration of a vehicle 1 according to the present embodiment.
The vehicle 1 is an example of a moving object, and includes a vehicle body 10 corresponding to a main body of the moving object, a driving section 12 having at least one of an electric motor and an internal combustion engine that outputs driving force, and a driving force of the driving section 12. It includes a plurality of wheels 14 that are driven and propel the vehicle body 10 (in this embodiment, travel). Although the vehicle 1 of this embodiment is a four-wheeled vehicle having four wheels 14, the number of wheels 14 and the shape of the vehicle body 10 are arbitrary.

Furthermore, the vehicle 1 of this embodiment includes a direction identification system 20 that identifies a direction, and a direction utilization device 22 that is an on-vehicle device that uses the direction. The direction utilization device 22 is, for example, an appropriate device such as a navigation device or an automatic driving device that controls travel of the vehicle 1 using autonomous navigation.

The direction identification system 20 includes a camera 30, a position detection device 32, a clock device 34, and a direction identification device 36.
The camera 30 photographs the surroundings of the vehicle 1 and outputs the photographed image A1 to the direction identification device 36. In the present embodiment, the camera 30 is installed on the vehicle body 10 with the viewpoint axis K (also called a gaze axis or optical axis) aligned with the front D1 of the vehicle 1, and the direction in which the viewpoint axis K is oriented is This can be regarded as the direction in which the front D1 of the vehicle body 10 is facing (the direction in which the vehicle 1 is heading when the vehicle 1 is moving forward).
Note that the camera 30 may shoot a moving image consisting of the captured image A1 captured at a predetermined frame rate, or may capture still images at appropriate intervals as the captured image A1.

Here, the direction is a direction expressed by the direction in which the viewing axis K of the camera 30 is directed with respect to the current position A2 of the vehicle 1 in relation to a predetermined reference direction. Four directions are used as reference directions: "east", "west", "south", and "north".

The position detection device 32 is a device that detects the current position A2 of the vehicle 1 and outputs the current position A2 to the direction identification device 36. The position detection device 32 of this embodiment receives positioning signals transmitted from a plurality of positioning satellites, and uses GNSS (Global Navigation Satellite System) reception to identify the current position A2 based on these positioning signals. Equipped with equipment.
The clock device 34 clocks the current date and time A3, which is the current date and time, and outputs the current date and time A3 to the direction specifying device 36.

The direction specifying device 36 is a device that specifies a direction based on a predetermined target F (FIG. 4) shown in the photographed image A1 and outputs the direction to the direction utilization device 22. Further, the direction specifying device 36 uses at least one information of the current position A2 and the current date and time A3 together with the photographed image A1 to specify the direction according to the type of the predetermined target F.

The predetermined target F is a terrestrial feature (a natural object or an artificial object) that indicates a direction among the objects shown in the photographed image A1, and a specific example thereof will be described later.

In this embodiment, the direction identification device 36 includes a processor such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), and a memory device (main memory) such as a ROM (Read Only Memory) or a RAM (Random Access Memory). storage devices (also called secondary storage devices) such as HDDs (hard disk drives) and SSDs (solid state drives), cameras 30, position detection devices 32, timing devices 34, sensors, peripheral devices, etc. an interface circuit to which the computer is connected. In the vehicle 1 of this embodiment, an ECU (Electronic Control Unit) is used as the computer. The direction identification device 36 realizes various functions related to direction identification by the processor executing a computer program stored in a memory device or a storage device. Note that the direction identification device 36 may include a plurality of computers, and the computers may cooperate to realize various functions related to direction identification.

FIG. 2 is a diagram showing the functional configuration of the direction identifying device 36. As shown in FIG.
The direction identification device 36 includes a photographed image acquisition unit 40 that acquires a photographed image A1 from the camera 30, a current position acquisition unit 42 that acquires the current position A2 from the position detection device 32, and a current date and time A3 from the clock device 34. A current date and time acquisition unit 44 is provided.
Further, the direction specifying device 36 includes a target object data source 46, a predetermined target object recognition section 48, a direction information acquisition section 50, a viewpoint axis direction specifying section 52, and a front direction specifying section 54.

The target data source 46 stores a target database 46A in advance. The target database 46A is data in which information indicating the direction suggested by the predetermined target F (hereinafter referred to as direction information G) is recorded for each predetermined target F.

Predetermined targets F include natural objects such as sunflowers, the sun, the moon, and shadows cast on objects, and artificial objects (including objects processed from natural objects) with shapes, arrangements, or signs that indicate direction. included.

For example, the sun and moon are natural objects that indicate direction by their position. Since the positions of the sun and the moon change depending on the current position A2 and the current date and time A3, the directions in which the sun and the moon are located are derived for the direction information G of the sun and the moon using the current position A2 and the current date and time A3 as parameters. Data such as calculation formulas and numerical tables are stored.

For example, a shadow extending from an object is a natural object that indicates a direction depending on the direction in which it extends. Since the extending direction changes depending on the position of the sun at that time, that is, the current position A2 and the current date and time A3, the direction information G of the shadow includes the current position A2 and the current date and time A3 as parameters, as in the case of the sun described above. , data such as calculation formulas and numerical tables for deriving the direction in which the sun is located are stored.

For example, sunflowers have the property of always blooming facing east when fully grown, so they are a natural product that indicates direction depending on their orientation. Therefore, "east", which is the direction suggested by the direction of the sunflower, is stored in the sunflower direction information G. Note that sunflowers that are not fully grown have the property of changing direction in accordance with the movement of the sun. Therefore, as with the sun and shadow described above, the direction information G of a sunflower that has not grown sufficiently includes a calculation formula and numerical values for deriving the direction in which the sun is located, using the current position A2 and current date and time A3 as parameters. Stores data such as tables.

Examples of man-made objects include objects such as guardrails and lanes that indicate a specific direction depending on the direction they extend, groups of objects such as a group of poles that indicate a specific direction depending on the direction they are arranged, and shapes that point in a specific direction (such as arrow shapes). ) buildings are an example. The direction information G of the artificial object serving as the predetermined target F stores in advance the direction of extension, the arrangement direction, and the direction suggested by the shape.
In this embodiment, the artificial object serving as the predetermined target F is attached with an identification mark Fa (FIG. 4: Example 3) that enables it to be distinguished from an artificial object that does not indicate a direction. In addition, for the predetermined target F that indicates the direction by the extending direction or arrangement direction, a direction indicating sign Fb (Fig. 5: Example 4) that makes it possible to identify the direction from the starting point to the end point in the extending direction or arrangement direction is attached.

The predetermined target recognition unit 48 detects the predetermined target F from the photographed image A1 by image recognition. Specifically, the predetermined target recognition unit 48 detects the predetermined target F, which is a natural object, by pattern matching of the shape. Further, the predetermined target recognition unit 48 recognizes the identification mark Fa for the predetermined target F of the artificial object, or detects the predetermined target F by pattern matching of the shape of the artificial object. Note that the predetermined target recognition unit 48 may detect the predetermined target F by recognition processing using AI (Artificial Intelligence).

When the predetermined target F is detected by the predetermined target recognition unit 48 from the photographed image A1 (that is, when the predetermined target F appears in the photographed image A1), the direction information acquisition unit 50 detects the predetermined target F from the photographed image A1. Direction information G corresponding to is acquired from the target object data source 46.

The viewpoint axis direction specifying unit 52 identifies the direction in which the viewpoint axis K is oriented based on the direction information G and the positional relationship between the predetermined target F in the photographed image A1 and the viewpoint axis K of the camera 30. .

The forward direction specifying unit 54 corrects the direction in which the viewpoint axis K is oriented based on the angle α formed between the viewpoint axis K and the reference axis (vehicle center axis) of the front D1 of the vehicle body 10, thereby determining the direction of the vehicle body 10. Identify the direction in which the front D1 is pointing.
More specifically, in this embodiment, as described above, the viewing axis K of the camera 30 coincides with the front D1 of the vehicle 1, so the angle α is zero. On the other hand, for example, if the viewing axis K of the camera 30 is installed toward the side of the vehicle body 10 and the angle α is not zero, the forward direction specifying unit 54 determines the direction in which the viewing axis K is pointing. By displacing by α, the direction in which the front D1 of the vehicle body 10 is directed is specified.

The direction specified by the forward direction specifying unit 54 is input to the direction utilization device 22, and is used for various controls (navigation control, autonomous driving control, etc.) in the direction utilization device 22. Thereby, the direction utilization device 22 can specify the direction even if it does not separately include a direction detection means (for example, a gyro sensor) for detecting the direction. Furthermore, even when the direction utilization device 22 is equipped with a direction detection means for detecting a direction, the detection result of the direction detection means can be corrected using the direction specified by the direction identification device 36, and the detection sensitivity of the direction detection means can be corrected. Highly accurate direction detection can be achieved even in environments and situations with poor conditions.

FIG. 3 is a flowchart showing the operation of the direction identification system 20.
In the vehicle 1, each part of the direction identification system 20 starts operating at an appropriate timing (timing when a power switch or ignition key is turned on, timing when driving starts, etc.). First, in the direction identification device 36, the processor determines whether or not a predetermined operation start condition is satisfied (step S1).The operation start condition corresponds to a situation where the effectiveness of direction identification is high. This is the condition. Specifically, the operation start condition is at least one of a case where the predetermined vehicle 1 is in a predetermined area and a case where the vehicle 1 is running (moving). The predetermined area may be an area where the reception condition of the positioning signal is not favorable, an area where there is no three-dimensional map information that can be used as a basis for direction, or the like. The direction identification device 36 executes the operation of identifying the direction on condition that the operation start condition is satisfied, thereby suppressing the operation in a situation where the effectiveness of direction identification is low.

If the operation start condition is satisfied (step S1: Yes), the captured image acquisition unit 40 acquires the captured image A1 from the camera 30 (step S2). Next, the predetermined target recognition unit 48 detects the predetermined target F by performing image recognition on the captured image A1 (step S3: predetermined target detection process).

When the predetermined target F is detected from the photographed image A1 (that is, when the predetermined target F is shown in the photographed image A1) (step S4: Yes), the direction information acquisition unit 50 detects the detected predetermined target Direction information G corresponding to F is acquired from the target data source 46 (step S5). Then, the viewpoint axis direction specifying unit 52 identifies the direction suggested by the predetermined target F based on the direction information G, and the position between the direction and the viewpoint axis K of the predetermined target F and the camera 30 in the photographed image A1. The direction in which the viewpoint axis K is oriented is specified based on the relationship (step S6).

In this step S6, when the current position A2 and the current date and time A3 are necessary to specify the direction suggested by the predetermined target F, that is, when the direction information G indicates a direction using the current position A2 and the current date and time A3 as parameters. The viewpoint axis direction specifying unit 52 uses the current position A2 obtained by the current position obtaining unit 42 and the current date and time A3 obtained by the current date and time obtaining unit 44 to specify the direction suggested by the predetermined target F. do. Next, the viewpoint axis direction specifying unit 52 identifies the direction in which the viewpoint axis K is pointing based on the direction and the positional relationship between the predetermined target F in the photographed image A1 and the viewpoint axis K of the camera 30. do.

Note that the specific aspect of specifying the angle in step S6 will be described in detail later.

Next, the forward direction specifying unit 54 determines the direction in which the viewpoint axis K is oriented at an angle α (in this embodiment, α=zero) formed by the viewpoint axis K and the reference axis (vehicle center axis) in front of the vehicle body 10. The direction in which the front of the vehicle body 10 is oriented is specified by correcting the direction (degrees) (step S7), and this direction is output to the direction utilization device 22 (step S8).

Thereby, the direction in which the viewpoint axis K of the camera 30 is oriented and the direction in which the front of the vehicle body 10 is oriented are specified based on the photographed image A1 of the camera 30 without using positioning. Therefore, these directions can be specified without depending on the accuracy of positioning.

4 and 5 are schematic diagrams showing an example of the photographed image A1 and the direction in which the viewpoint axis K is oriented.
In the photographed image A1 of Example 1, a fully grown sunflower is shown as a predetermined target F. In this case, the viewpoint axis direction specifying unit 52 identifies that the direction H1 in which the sunflower is facing is "east" in the photographed image A1, and also, based on the positional relationship between the sunflower and the camera 30, the viewpoint axis K is Identify that the direction you are facing is "north."

In the photographed image A1 of Example 2, the shadow of a building is shown as a predetermined target F. In this case, the viewpoint axis direction specifying unit 52 specifies the direction in which the sun is located based on the current position A2 and the current date and time A3, and based on the direction in which the sun is located and the direction H2 of the shadow extending from the building. , the direction H2 in which the shadow extends (in the illustrated example, "east") is specified. Then, the viewpoint axis direction specifying unit 52 identifies the direction in which the viewpoint axis K is facing (in the illustrated example, "north") based on the positional relationship between the shadow and the camera 30.

In the photographed image A1 of Example 3, a group of poles, which are artificial objects that indicate a direction, are shown as a predetermined target F. In this case, the viewpoint axis direction specifying unit 52 specifies the direction suggested by the arrangement direction H3 of the pole group based on the direction information G (in the illustrated example, "south"). Then, the viewpoint axis direction identifying unit 52 identifies the direction in which the viewpoint axis K is facing ("south" in the illustrated example) based on the positional relationship between the pole group and the camera 30.

In Example 3, the above-mentioned identification mark Fa is attached to the pole group, and the viewpoint axis direction specifying unit 52 identifies the pole group as the predetermined target F by image recognition of this identification mark Fa. It is determined that there is. Furthermore, among the pole groups, the pole corresponding to the starting point in the array direction H3 is attached with a starting point marker Fb1 indicating the starting point, and the pole corresponding to the ending point is attached with an ending point marker Fb2 indicating the corresponding ending point. . The starting point marker Fb1 and the ending point marker Fb2 are an example of the above-mentioned direction indicating marker Fb indicating the direction from the starting point to the ending point in the array direction H3, and the viewpoint axis direction specifying unit 52 specifies the starting point marker Fb1 and the ending point marker Fb2. Based on this, the direction pointed by the arrangement direction H3 is specified.

In the photographed image A1 of Example 4, a guardrail is shown as a predetermined target F. In this case, the viewpoint axis direction specifying unit 52 specifies the direction suggested by the extending direction H4 of the guardrail based on the direction information G (in the illustrated example, "north"). Then, the viewpoint axis direction identifying unit 52 identifies the direction in which the viewpoint axis K is facing (“north” in the illustrated example) based on the positional relationship between the extending direction of the guardrail and the camera 30. Note that, like the pole group in Example 3, the guardrail is also attached with an identification mark Fa indicating that it is an artificial object indicating a direction, and a direction indicator Fb indicating the orientation in the extending direction H4.

In the photographed image A1 of Example 5, a road sign, which is a sign drawn on the road surface, is shown as a predetermined target F. In this case, the viewpoint axis direction specifying unit 52 specifies, based on the display of the road sign, the direction suggested by the road sign (in the illustrated example, "north"). Then, the viewpoint axis direction specifying unit 52 identifies the direction in which the viewpoint axis K is facing (“north” in the illustrated example) based on the positional relationship between the road sign and the camera 30. In addition, if the predetermined target F is a sign, the sign itself is distinguishable from other features, so it is not necessary to attach an identification sign Fa, and the direction suggested by the sign is the above-mentioned direction. It is stored in information G in advance.

Here, as in Examples 3 to 5, when the predetermined target F is an artificial object, the predetermined target recognition unit 48 recognizes the travel path M on which the vehicle 1 is traveling in steps S3 and S4 of FIG. The viewpoint axis direction specifying unit 52 detects a predetermined target F located nearby (more precisely, within a predetermined distance, including within the range of the traveling route M as in Example 5), and Based on the target F, the direction in which the viewpoint axis K is oriented is specified.
According to this operation, since the predetermined target object F whose suggested direction indicates the direction of the driving route M is detected by the predetermined target recognition unit 48, the driving path M The direction of is also specified. Therefore, for example, when the direction-using device 22 is a device having a function of tracking the driving route M, the direction-using device 22 can detect the direction indicated by the driving path M recorded in map data, etc., and the direction specifying device 36. By comparing the direction outputted from the direction, it becomes possible to determine whether the traveling route M being tracked is correct or incorrect.

According to this embodiment, the following effects are achieved.

The direction specifying device 36 of the present embodiment includes a photographed image acquisition unit 40 that acquires a photographed image A1 by a camera 30 provided in the vehicle 1, and a photographed image acquisition unit 40 that acquires a photographed image A1 by a camera 30 provided in the vehicle 1, and a direction specifying device 36 that detects a direction when a predetermined target F indicating a direction is shown in the photographed image A1. , a direction information acquisition unit 50 that acquires direction information G indicating the direction suggested by the predetermined target F, the direction information G, and the positional relationship between the predetermined target F and the viewpoint axis K of the camera 30 in the photographed image A1; , a viewpoint axis direction identifying unit 52 that identifies the direction in which the viewpoint axis K is oriented based on .
According to this configuration, the direction in which the viewpoint axis K of the camera 30 is oriented can be specified without using positioning using a GNSS receiver or the like. Thereby, the direction can be specified even when the vehicle 1 is traveling in an environment that is not suitable for positioning.

The direction identification device 36 of this embodiment includes a current position acquisition unit 42 that acquires the current position A2, and a current date and time acquisition unit 44 that acquires the current date and time A3. Then, when the direction suggested by the predetermined target F changes depending on the current position A2 and current date and time A3, the viewpoint axis direction specifying unit 52 detects the current position A2 and the current position A2 and the current date and time acquired by the current position acquisition unit 42 and the current date and time acquisition unit 44, respectively. The direction suggested by the predetermined target F is specified based on the current date and time A3, and the direction in which the viewpoint axis K is oriented is specified based on the direction.
According to this configuration, a terrestrial feature whose suggested direction changes depending on the current position A2 and the current date and time A3 can also be treated as the predetermined target F. As a result, the number of options for features that can be treated as the predetermined target F increases, and the usability of the direction specifying device 36 can be improved.

The direction specifying device 36 of the present embodiment is a predetermined target object recognition device that detects a predetermined target F from a photographed image A1 based on whether or not an identification mark Fa indicating that the target object indicates a direction is attached. 48.
According to this configuration, the predetermined target F can be accurately detected from the photographed image A1.

In the direction specifying device 36 of this embodiment, the viewpoint axis direction specifying unit 52 determines whether the viewpoint axis K is oriented based on a predetermined target F located beside the travel path M on which the vehicle 1 is traveling in the captured image A1. Identify the direction you are in.
According to this configuration, based on the predetermined target F whose suggested direction indicates the direction of the driving route M, the direction in which the viewpoint axis K is oriented is specified. Thereby, the direction of the travel route M can also be specified based on the direction in which the viewpoint axis K is pointing.

The direction identifying device 36 of this embodiment includes a front direction identifying unit 54 that identifies the direction in which the front D1 of the vehicle 1 is facing based on the direction in which the viewpoint axis K is facing.
According to this configuration, the direction in which the front D1 of the vehicle 1 is directed can be specified without using positioning.

The direction specifying device 36 of the present embodiment is capable of specifying the direction in which the viewpoint axis K is oriented in at least one of the following cases: when the vehicle 1 is in a predetermined area and when the vehicle 1 is traveling. This is performed by the viewpoint axis direction specifying unit 52.
According to this configuration, operations can be suppressed in situations where the effectiveness of direction identification is low.

Note that the embodiment described above is merely an example of one aspect of the present invention. That is, without departing from the spirit of the present invention, the embodiments described above can be modified and applied as desired, and the aspects of these embodiments, modifications, and applications can be arbitrarily combined. be.

In the embodiment described above, the number of cameras 30 installed is not limited to one, but may be two or more. In this case, the direction specifying device 36 can specify the direction in which the viewpoint axis K of each camera 30 is oriented by performing the processing shown in FIG. 3 on each captured image A1 of the camera 30. Further, the direction specifying device 36 can also specify the direction in which the front D1 of the vehicle 1 is directed with higher accuracy using the result of specifying the direction in which the viewpoint axis K of each camera 30 is directed.

In the embodiment described above, the target data source 46 included in the direction identification device 36 may be provided in another on-vehicle device included in the vehicle 1 or in an external computer connected to a telecommunications line such as the Internet.

In the embodiments described above, the direction identification device 36 may be incorporated into the direction utilization device 22.

In the embodiment described above, the artificial object serving as the predetermined target F is given an identification mark Fa. However, if the artificial object (including its parts) has a unique shape, pattern, or color that can be distinguished from other objects, or a combination of these (hereinafter referred to as "shape, etc."), the shape, etc. It may be used in place of the identification mark Fa.

In the embodiment described above, when a predetermined operation start condition is satisfied (FIG. 3: Step S1: Yes), the viewpoint axis direction specifying unit 52 identifies the direction in which the viewpoint axis K is oriented. However, the viewpoint axis direction specifying unit 52 may specify the direction in which the viewpoint axis K is oriented regardless of whether the predetermined operation start condition is correct or not. Furthermore, in this case, the forward direction specifying unit 54 performs a process of specifying the direction in which the forward direction D1 is oriented when the predetermined operation start condition of step S1 shown in FIG. 3 is satisfied (FIG. 3: step S7). may be executed.

In the embodiment described above, the moving object is not the vehicle 1, but may be an airplane, a ship, a drone, a robot, or the like.

The functional blocks shown in FIG. 2 are schematic diagrams showing the components of the direction identification device 36 classified according to the main processing contents in order to facilitate understanding of the present invention. can be further classified into more components depending on the processing content. It is also possible to classify one component so that it performs more processes.
Further, the processing of each component of the direction identifying device 36 may be executed by one piece of hardware or may be executed by a plurality of pieces of hardware. Moreover, the processing of each component may be realized by one program, or may be realized by multiple programs.

(Configurations supported by the disclosure herein)
The disclosure herein supports the following configurations.

(Configuration 1)
a photographed image acquisition unit that acquires an image photographed by a camera installed on a moving body; and a photographed image acquisition unit that acquires an image photographed by a camera installed on a moving object; and when a predetermined target indicating a direction is shown in the photographed image, direction information indicating the direction suggested by the predetermined target; a viewpoint that identifies a direction in which the viewpoint axis is directed based on a direction information acquisition unit that acquires the direction information, and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera; A direction specifying device comprising: an axial direction specifying section.
According to Configuration 1, the direction can be specified without using positioning.

(Configuration 2)
The viewpoint axis direction specifying unit includes a current position acquisition unit that acquires the current position, and a current date and time acquisition unit that acquires the current date and time. If the direction changes, the direction suggested by the predetermined target is specified based on the current position and the current date and time acquired by the current position acquisition unit and the current date and time acquisition unit, and the viewpoint axis is oriented based on the direction. The direction specifying device according to configuration 1, characterized in that the direction specifying device specifies the direction in which the direction is.
According to configuration 2, the number of options for features that can be treated as predetermined targets increases, and the usability of the direction identification device can be improved.

(Configuration 3)
Configuration 1 or 2, comprising a predetermined target recognition unit that detects the predetermined target from the photographed image based on whether or not an identification mark indicating that the target indicates a direction is attached. 2. The direction identification device according to 2.
According to configuration 3, the predetermined target can be accurately detected from the captured image.

(Configuration 4)
The viewpoint axis direction specifying unit is characterized in that the direction in which the viewpoint axis is oriented is specified based on the predetermined target located beside the movement route of the mobile object in the photographed image. The direction identification device according to any one of configurations 1 to 3.
According to configuration 4, by specifying the direction in which the viewpoint axis is oriented, the direction of the movement route is also specified.

(Configuration 5)
The direction according to any one of configurations 1 to 4, further comprising a forward direction specifying unit that specifies a direction in which the front of the moving body is oriented based on a direction in which the viewpoint axis is oriented. Specific equipment.
According to Configuration 5, the direction in which the front of the moving object is oriented can be specified without using positioning.

(Configuration 6)
The direction in which the viewpoint axis is oriented is specified by the viewpoint axis direction specifying unit in at least one of the cases where the moving object is in a predetermined area and the case where the moving object is moving. The direction identification device according to any one of configurations 1 to 5, characterized in that:
According to configuration 6, the operation is suppressed in a situation where the effectiveness of direction identification is low.

(Configuration 7)
A direction identification method using a direction identification device that identifies a direction includes the step of the direction identification device acquiring an image taken by a camera installed on a moving body, and a step in which a predetermined target indicating the direction is shown in the taken image. a step of acquiring direction information indicating a direction suggested by the predetermined target, based on the direction information and a positional relationship between the predetermined target and the viewpoint axis of the camera in the captured image; , specifying the direction in which the viewpoint axis is oriented.
According to configuration 7, the direction can be specified without using positioning.

1 Vehicle (mobile object)
20 Direction identification system 22 Direction utilization device 30 Camera 36 Direction identification device 40 Photographed image acquisition unit 42 Current position acquisition unit 44 Current date and time acquisition unit 48 Predetermined target recognition unit 50 Direction information acquisition unit 52 View axis direction identification unit 54 Forward direction identification Section A1 Photographed image A2 Current position A3 Current date and time D1 Forward F Predetermined target Fa Identification mark G Direction information K Viewpoint axis

Claims (6)

a photographed image acquisition unit that acquires a photographed image by a camera provided on the moving object;
a direction information acquisition unit that acquires direction information indicating the direction suggested by the predetermined target when the predetermined target indicating the direction is shown in the photographed image;
a viewpoint axis direction identification unit that identifies a direction in which the viewpoint axis is oriented based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera;
a predetermined target recognition unit that detects the predetermined target from the captured image based on whether or not an identification mark indicating that the target indicates a direction is attached;
The viewpoint axis direction specifying unit is configured to indicate an arrangement direction of the pole group when the predetermined target recognition unit detects the predetermined target, which is a group of poles with the identification mark attached thereto and indicating a direction. based on the direction information, and identify the direction in which the viewpoint axis is oriented based on the positional relationship between the arrangement direction of the pole group in the photographed image and the viewpoint axis of the camera.
Direction identification device. a photographed image acquisition unit that acquires a photographed image by a camera provided on the moving object;
a direction information acquisition unit that acquires direction information indicating the direction suggested by the predetermined target when the predetermined target indicating the direction is shown in the photographed image;
a viewpoint axis direction identification unit that identifies a direction in which the viewpoint axis is oriented based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera;
a predetermined target recognition unit that detects the predetermined target from the captured image based on whether or not an identification mark indicating that the target indicates a direction is attached;
The viewpoint axis direction specifying unit determines, when the predetermined target recognition unit detects the predetermined target, which is a guardrail with the identification mark attached thereto and indicating a direction, the direction in which the guardrail extends is indicated. A direction is specified based on the direction information, and a direction in which the viewpoint axis is oriented is specified based on a positional relationship between the extending direction of the guardrail in the photographed image and the viewpoint axis of the camera.
Direction identification device. a forward direction identifying unit that identifies a direction in which the front of the moving body is oriented based on a direction in which the viewpoint axis is oriented;
The direction specifying device according to claim 1 or claim 2, characterized in that: The direction in which the viewpoint axis is oriented is specified by the viewpoint axis direction specifying unit in at least one of the cases where the moving object is in a predetermined area and the case where the moving object is moving. The direction specifying device according to any one of claims 1 to 3, characterized in that: In a direction identification method using a direction identification device that identifies a direction,
The direction specifying device is
a step of acquiring an image taken by a camera installed on the moving body;
If a predetermined target indicating a direction is shown in the photographed image, acquiring direction information indicating the direction suggested by the predetermined target;
a viewpoint axis direction specifying step of identifying a direction in which the viewpoint axis is oriented based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera;
a predetermined target recognition step of detecting the predetermined target from the photographed image based on whether or not an identification mark indicating that the target is a direction indicating a direction is attached;
In the viewpoint axis direction specifying step, when the predetermined target object recognition step detects the predetermined target object, which is a group of poles with the identification mark attached thereto and indicating a direction, the arrangement direction of the pole group is suggested. based on the direction information, and identify the direction in which the viewpoint axis is oriented based on the positional relationship between the arrangement direction of the pole group in the photographed image and the viewpoint axis of the camera.
Direction identification method. In a direction identification method using a direction identification device that identifies a direction,
The direction specifying device is
a step of acquiring an image taken by a camera installed on the moving body;
If a predetermined target indicating a direction is shown in the photographed image, acquiring direction information indicating the direction suggested by the predetermined target;
a viewpoint axis direction specifying step of identifying a direction in which the viewpoint axis is oriented based on the direction information and a positional relationship between the predetermined target in the photographed image and the viewpoint axis of the camera;
a predetermined target recognition step of detecting the predetermined target from the photographed image based on whether or not an identification mark indicating that the target is a direction indicating a direction is attached;
The viewpoint axis direction specifying step is performed when the predetermined target object recognition step detects the predetermined target object, which is a guardrail with the identification mark attached thereto and indicating the direction, in which the extending direction of the guardrail is indicated. A direction is specified based on the direction information, and a direction in which the viewpoint axis is oriented is specified based on a positional relationship between the extending direction of the guardrail in the photographed image and the viewpoint axis of the camera.
Direction identification method.

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